【摘要】 ＦＴＰ（力觉临场感）技术是基于多传感器信息的力和触觉再现技术。本文针对多传感器信息双向传输中时延造成的有源性和信号失真问题作了深入分析，提出了一种基于阻抗匹配的无源传输算法，能同时实现传输线的无源稳定性和环境阻抗的真实再现。实验表明了该算法的有效性。更多还原

【Abstract】 FTP(Force telepresence) technique can realize the reappearance of force and tectile sense based on multi-sensor signal.In this paper,we analyze the activity and signal deviation caused by transmission time delay.A new passive transmission algortihm is proposed,which can maintain both the passivity of the transmission line and the reappearance of environment impedance without deviation.Lastly, the result of the experiment shows the effectiveness of the new passive transmission algorithm.更多还原